#ifndef __PID_H__
#define __PID_H__
struct PID
{
    float kp;
    float ki;
    float kd;
};
typedef struct PID _PID;

float PositionPID(float  deviation);
float AnglePID(float  deviation);
float PID_CascadeCalc(float input);
void PositionPID_Clear();
void CascadeCalc_Clear();
#endif